oxmpl-js

JavaScript/WASM bindings for the OxMPL Rust library.

Installation

Note: This package is not yet published to npm. To use it, you'll need to include it as a Git submodule or clone the repository directly.

Building

Prerequisites

• Node.js (v22 or later recommended)
• Rust toolchain with wasm32-unknown-unknown target
• wasm-pack (installed automatically via npm)

Commands

# Install dependencies and build WASM module
npm install

# Build only
npm run build

# Run tests
npm test

# Create a packaged version
npm run pack

The build process uses wasm-pack to:

• compile the Rust code to WebAssembly
• generate TypeScript definitions and JS glue
• output a fully-formed JS package in pkg-bundler/

Usage

This example assumes that you've installed the package as a dependency called oxmpl-js.

import * as oxmpl from 'oxmpl-js';

// Create a 2D state space
const space = new oxmpl.RealVectorStateSpace(2, [0.0, 10.0, 0.0, 10.0]);

// Define start and goal
const start = [1.0, 1.0];
const goal = new oxmpl.Goal(
  (state) => /* goal satisfaction check */,
  (state) => /* distance to goal */,
  () => /* sample goal state */
);

// Create problem definition
const problem = new oxmpl.ProblemDefinition(space, start, goal);

// Define validity checker
const validityChecker = new oxmpl.StateValidityChecker(
  (state) => /* return true if state is collision-free */
);

// Create and run planner
const planner = new oxmpl.RRT(0.5, 0.05);
planner.setup(problem, validityChecker);
const path = planner.solve(5.0);

License

BSD-3-Clause License. See the main project LICENSE file for details.